What Virtual Wall Works For Create3?

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

Ubuntu 22.04 in Docker over Raspberry Pi 5 PiOS Bookworm

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.4

Which RMW is your robot running?

I don't know

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

Yes: 2.4GHz Home WiFi

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

Bluetooth (default)

Describe your question.

Which model(s) of iRobot Virtual Wall is(are) compatible with the Create3?

Any tips on programming with the virtual wall?

Works for the moment:

[shamlian]

If you're tired of using an Actual Wall™, you can use this Virtual Wall®, which will appear as opcode 162 in the /ir_opcode topic.

[slowrunner]

So cool - It's so tiny - didn't expect that from the pictures.

pi@WaLiPi5:~/wali_pi5/c3ws $ ros2 topic echo --once /ir_opcode
header:
  stamp:
    sec: 1706299204
    nanosec: 891169655
  frame_id: ir_omni
opcode: 162
sensor: 0
---
pi@WaLiPi5:~/wali_pi5/c3ws $ 

Have to add virtual wall to my wander program and finally get rid of the cardboard wall.

[slowrunner]

Everything I learned:

Create3 Virtual Wall

• https://homesupport.irobot.com/s/article/9053
• Starts 5 flashes
• Batteries should last up to 12 months
• Low Battery: Continuous “two blinks”
• Halo Mode: 2 foot radius / 4 foot diameter
• Wall Mode: up to 10 feet - barrier gets wider as it gets farther from device
• /ir_opcode topic will report opcode: 162 frame_id: ir_omni sensor: 0
  (Only published when virtual wall is visible)
• published at 5Hz so if older than about 0.3 seconds the wall is no longer visible
  Code for see_virtual_wall()